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<div class="title">octree_pointcloud.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_POINTCLOUD_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_POINTCLOUD_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_base.hpp&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">   49</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::OctreePointCloud</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution) :</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> (), input_ (PointCloudConstPtr ()), indices_ (IndicesConstPtr ()),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    epsilon_ (0), resolution_ (resolution), min_x_ (0.0f), max_x_ (resolution), min_y_ (0.0f),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    max_y_ (resolution), min_z_ (0.0f), max_z_ (resolution), bounding_box_defined_ (false), max_objs_per_leaf_(0)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  assert (resolution &gt; 0.0f);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">   59</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::~OctreePointCloud</a> ()</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">   65</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::addPointsFromInputCloud</a> ()</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator current = indices_-&gt;begin (); current != indices_-&gt;end (); ++current)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      assert( (*current&gt;=0) &amp;&amp; (*current &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ())));</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">if</span> (isFinite (input_-&gt;points[*current]))</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="comment">// add points to octree</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        this-&gt;addPointIdx (*current);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">for</span> (i = 0; i &lt; input_-&gt;points.size (); i++)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordflow">if</span> (isFinite (input_-&gt;points[i]))</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="comment">// add points to octree</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        this-&gt;addPointIdx (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">   97</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::addPointFromCloud</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> point_idx_arg, IndicesPtr indices_arg)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  this-&gt;addPointIdx (point_idx_arg);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">if</span> (indices_arg)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    indices_arg-&gt;push_back (point_idx_arg);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">  106</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::addPointToCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, PointCloudPtr cloud_arg)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;{</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  assert (cloud_arg==input_);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">  110</a></span>&#160;  cloud_arg-&gt;push_back (point_arg);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  this-&gt;addPointIdx (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_arg-&gt;points.size ()) - 1);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa204be6055c6e686bbe2bb11ece439db">  117</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::addPointToCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, PointCloudPtr cloud_arg,</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                                                           IndicesPtr indices_arg)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  assert (cloud_arg==input_);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  assert (indices_arg==indices_);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  cloud_arg-&gt;push_back (point_arg);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  this-&gt;addPointFromCloud (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_arg-&gt;points.size ()) - 1, indices_arg);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">  130</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::isVoxelOccupiedAtPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  this-&gt;genOctreeKeyforPoint (point_arg, key);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// search for key in octree</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">return</span> (isPointWithinBoundingBox (point_arg) &amp;&amp; this-&gt;existLeaf (key));</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a75d0265301eeb2ba907cd1f2e002eca7">  143</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::isVoxelOccupiedAtPoint</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; point_idx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// retrieve point from input cloud</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;input_-&gt;points[point_idx_arg];</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="comment">// search for voxel at point in octree</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">return</span> (this-&gt;isVoxelOccupiedAtPoint (point));</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a93dbefe4a23e8083f6e3bba2eab22e0c">  154</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::isVoxelOccupiedAtPoint</a> (</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> point_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_z_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  this-&gt;genOctreeKeyforPoint (point_x_arg, point_y_arg, point_z_arg, key);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">return</span> (this-&gt;existLeaf (key));</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">  167</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::deleteVoxelAtPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;{</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  this-&gt;genOctreeKeyforPoint (point_arg, key);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  this-&gt;removeLeaf (key);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;}</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a03616f25c07af456a3f96e87371f152e">  179</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::deleteVoxelAtPoint</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; point_idx_arg)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;{</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// retrieve point from input cloud</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;input_-&gt;points[point_idx_arg];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// delete leaf at point</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  this-&gt;deleteVoxelAtPoint (point);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">  190</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getOccupiedVoxelCenters</a> (</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    AlignedPointTVector &amp;voxel_center_list_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  voxel_center_list_arg.clear ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordflow">return</span> getOccupiedVoxelCentersRecursive (this-&gt;root_node_, key, voxel_center_list_arg);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">  204</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getApproxIntersectedVoxelCentersBySegment</a> (</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f&amp; origin,</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f&amp; end,</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    AlignedPointTVector &amp;voxel_center_list,</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">float</span> precision)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;{</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  Eigen::Vector3f direction = end - origin;</div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ac740d5e678cca7d165771f0c9e480050">  211</a></span>&#160;  <span class="keywordtype">float</span> norm = direction.norm ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> step_size = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (resolution_) * precision;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">// Ensure we get at least one step for the first voxel.</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nsteps = std::max (1, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (norm / step_size));</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a53d42efe80b3083dc5b703ea9dd7c9af">  218</a></span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> prev_key;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordtype">bool</span> bkeyDefined = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">// Walk along the line segment with small steps.</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nsteps; ++i)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    Eigen::Vector3f p = origin + (direction * step_size * <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aa204be6055c6e686bbe2bb11ece439db">  226</a></span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> octree_p;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    octree_p.x = p.x ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    octree_p.y = p.y ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    octree_p.z = p.z ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">  233</a></span>&#160;    this-&gt;genOctreeKeyforPoint (octree_p, key);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">// Not a new key, still the same voxel.</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordflow">if</span> ((key == prev_key) &amp;&amp; (bkeyDefined) )</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    prev_key = key;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    bkeyDefined = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> center;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    genLeafNodeCenterFromOctreeKey (key, center);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    voxel_center_list.push_back (center);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> end_key;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> end_p;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  end_p.x = end.x ();</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  end_p.y = end.y ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  end_p.z = end.z ();</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  this-&gt;genOctreeKeyforPoint (end_p, end_key);</div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a93dbefe4a23e8083f6e3bba2eab22e0c">  253</a></span>&#160;  <span class="keywordflow">if</span> (!(end_key == prev_key))</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> center;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    genLeafNodeCenterFromOctreeKey (end_key, center);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    voxel_center_list.push_back (center);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a75d0265301eeb2ba907cd1f2e002eca7">  260</a></span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (voxel_center_list.size ()));</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;}</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">  265</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::defineBoundingBox</a> ()</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;{</div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">  267</a></span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordtype">double</span> minX, minY, minZ, maxX, maxY, maxZ;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> min_pt;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> max_pt;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  assert (this-&gt;leaf_count_ == 0);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (*input_, min_pt, max_pt);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordtype">float</span> minValue = std::numeric_limits&lt;float&gt;::epsilon () * 512.0f;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">  280</a></span>&#160;  minX = min_pt.x;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  minY = min_pt.y;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  minZ = min_pt.z;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  maxX = max_pt.x + minValue;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  maxY = max_pt.y + minValue;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  maxZ = max_pt.z + minValue;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">  288</a></span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  defineBoundingBox (minX, minY, minZ, maxX, maxY, maxZ);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a17efabbe9a60f396212030999b9019b4">  294</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::defineBoundingBox</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> min_x_arg,</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                                                                          <span class="keyword">const</span> <span class="keywordtype">double</span> min_y_arg,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                                                          <span class="keyword">const</span> <span class="keywordtype">double</span> min_z_arg,</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                                                                          <span class="keyword">const</span> <span class="keywordtype">double</span> max_x_arg,</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                                                                          <span class="keyword">const</span> <span class="keywordtype">double</span> max_y_arg,</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                                                                          <span class="keyword">const</span> <span class="keywordtype">double</span> max_z_arg)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;{</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">  302</a></span>&#160;  assert (this-&gt;leaf_count_ == 0);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  assert (max_x_arg &gt;= min_x_arg);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  assert (max_y_arg &gt;= min_y_arg);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  assert (max_z_arg &gt;= min_z_arg);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  min_x_ = min_x_arg;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  max_x_ = max_x_arg;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  min_y_ = min_y_arg;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  max_y_ = max_y_arg;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a17efabbe9a60f396212030999b9019b4">  314</a></span>&#160;  min_z_ = min_z_arg;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  max_z_ = max_z_arg;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  min_x_ = std::min (min_x_, max_x_);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  min_y_ = std::min (min_y_, max_y_);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  min_z_ = std::min (min_z_, max_z_);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  max_x_ = std::max (min_x_, max_x_);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  max_y_ = std::max (min_y_, max_y_);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  max_z_ = std::max (min_z_, max_z_);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad4b5da82dcdb17bfc47a7e727002a35d">  325</a></span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  getKeyBitSize ();</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  bounding_box_defined_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;}</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad4b5da82dcdb17bfc47a7e727002a35d">  333</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::defineBoundingBox</a> (</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> max_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> max_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> max_z_arg)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;{</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  assert (this-&gt;leaf_count_ == 0);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  assert (max_x_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  assert (max_y_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  assert (max_z_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  min_x_ = 0.0f;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  max_x_ = max_x_arg;</div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">  345</a></span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  min_y_ = 0.0f;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  max_y_ = max_y_arg;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  min_z_ = 0.0f;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  max_z_ = max_z_arg;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  min_x_ = std::min (min_x_, max_x_);</div>
<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab2c5e918883e8a4a4d4c9d017bff900c">  353</a></span>&#160;  min_y_ = std::min (min_y_, max_y_);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  min_z_ = std::min (min_z_, max_z_);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  max_x_ = std::max (min_x_, max_x_);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  max_y_ = std::max (min_y_, max_y_);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  max_z_ = std::max (min_z_, max_z_);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  getKeyBitSize ();</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  bounding_box_defined_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;}</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab45d8debd181db309b2283ae22a27c58">  368</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::defineBoundingBox</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> cubeLen_arg)</div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab16d0a5d8b0a383619e1d50d748b5e0f">  369</a></span>&#160;{</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  assert (this-&gt;leaf_count_ == 0);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  assert (cubeLen_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  min_x_ = 0.0f;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  max_x_ = cubeLen_arg;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  min_y_ = 0.0f;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  max_y_ = cubeLen_arg;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  min_z_ = 0.0f;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  max_z_ = cubeLen_arg;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  min_x_ = std::min (min_x_, max_x_);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  min_y_ = std::min (min_y_, max_y_);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  min_z_ = std::min (min_z_, max_z_);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  max_x_ = std::max (min_x_, max_x_);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  max_y_ = std::max (min_y_, max_y_);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  max_z_ = std::max (min_z_, max_z_);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  getKeyBitSize ();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  bounding_box_defined_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;}</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">  400</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getBoundingBox</a> (</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <span class="keywordtype">double</span>&amp; min_x_arg, <span class="keywordtype">double</span>&amp; min_y_arg, <span class="keywordtype">double</span>&amp; min_z_arg,</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordtype">double</span>&amp; max_x_arg, <span class="keywordtype">double</span>&amp; max_y_arg, <span class="keywordtype">double</span>&amp; max_z_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  min_x_arg = min_x_;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  min_y_arg = min_y_;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  min_z_arg = min_z_;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  max_x_arg = max_x_;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  max_y_arg = max_y_;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  max_z_arg = max_z_;</div>
<div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">  411</a></span>&#160;}</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00417"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">  417</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::adoptBoundingBoxToPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_idx_arg)</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;{</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">  420</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> minValue = std::numeric_limits&lt;float&gt;::epsilon ();</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="comment">// increase octree size until point fits into bounding box</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  {</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordtype">bool</span> bLowerBoundViolationX = (point_idx_arg.x &lt; min_x_);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="keywordtype">bool</span> bLowerBoundViolationY = (point_idx_arg.y &lt; min_y_);</div>
<div class="line"><a name="l00427"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">  427</a></span>&#160;    <span class="keywordtype">bool</span> bLowerBoundViolationZ = (point_idx_arg.z &lt; min_z_);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordtype">bool</span> bUpperBoundViolationX = (point_idx_arg.x &gt;= max_x_);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordtype">bool</span> bUpperBoundViolationY = (point_idx_arg.y &gt;= max_y_);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    <span class="keywordtype">bool</span> bUpperBoundViolationZ = (point_idx_arg.z &gt;= max_z_);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="comment">// do we violate any bounds?</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">if</span> (bLowerBoundViolationX || bLowerBoundViolationY || bLowerBoundViolationZ || bUpperBoundViolationX</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        || bUpperBoundViolationY || bUpperBoundViolationZ || (!bounding_box_defined_) )</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    {</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keywordflow">if</span> (bounding_box_defined_)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        <span class="keywordtype">double</span> octreeSideLen;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <span class="comment">// octree not empty - we add another tree level and thus increase its size by a factor of 2*2*2</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        child_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((!bUpperBoundViolationX) &lt;&lt; 2) | ((!bUpperBoundViolationY) &lt;&lt; 1)</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;            | ((!bUpperBoundViolationZ)));</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* newRootBranch;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">  450</a></span>&#160;        newRootBranch = <span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>();</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        this-&gt;branch_count_++;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        this-&gt;setBranchChildPtr (*newRootBranch, child_idx, this-&gt;root_node_);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        this-&gt;root_node_ = newRootBranch;</div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">  456</a></span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        octreeSideLen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; this-&gt;octree_depth_) * resolution_;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        <span class="keywordflow">if</span> (!bUpperBoundViolationX)</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          min_x_ -= octreeSideLen;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordflow">if</span> (!bUpperBoundViolationY)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          min_y_ -= octreeSideLen;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">if</span> (!bUpperBoundViolationZ)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          min_z_ -= octreeSideLen;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <span class="comment">// configure tree depth of octree</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        this-&gt;octree_depth_++;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        this-&gt;setTreeDepth (this-&gt;octree_depth_);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        <span class="comment">// recalculate bounding box width</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        octreeSideLen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; this-&gt;octree_depth_) * resolution_ - minValue;</div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">  474</a></span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <span class="comment">// increase octree bounding box</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        max_x_ = min_x_ + octreeSideLen;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        max_y_ = min_y_ + octreeSideLen;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        max_z_ = min_z_ + octreeSideLen;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="comment">// bounding box is not defined - set it to point position</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      {</div>
<div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab0b9d5d8a304091f8b0e80f8bd76272e">  484</a></span>&#160;        <span class="comment">// octree is empty - we set the center of the bounding box to our first pixel</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        this-&gt;min_x_ = point_idx_arg.x - this-&gt;resolution_ / 2;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        this-&gt;min_y_ = point_idx_arg.y - this-&gt;resolution_ / 2;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        this-&gt;min_z_ = point_idx_arg.z - this-&gt;resolution_ / 2;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        this-&gt;max_x_ = point_idx_arg.x + this-&gt;resolution_ / 2;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        this-&gt;max_y_ = point_idx_arg.y + this-&gt;resolution_ / 2;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        this-&gt;max_z_ = point_idx_arg.z + this-&gt;resolution_ / 2;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        getKeyBitSize ();</div>
<div class="line"><a name="l00494"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">  494</a></span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        bounding_box_defined_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    }</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      <span class="comment">// no bound violations anymore - leave while loop</span></div>
<div class="line"><a name="l00501"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">  501</a></span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  }</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;}</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00507"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">  507</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::expandLeafNode</a> (LeafNode* leaf_node, BranchNode* parent_branch, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask)</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;{</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">  510</a></span>&#160;  <span class="keywordflow">if</span> (depth_mask)</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  {</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="comment">// get amount of objects in leaf container</span></div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keywordtype">size_t</span> leaf_obj_count = (*leaf_node)-&gt;getSize ();</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  <span class="comment">// copy leaf data</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    std::vector&lt;int&gt; leafIndices;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    leafIndices.reserve(leaf_obj_count);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    (*leaf_node)-&gt;getPointIndices(leafIndices);</div>
<div class="line"><a name="l00520"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">  520</a></span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    <span class="comment">// delete current leaf node</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    this-&gt;deleteBranchChild(*parent_branch, child_idx);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    this-&gt;leaf_count_ --;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="comment">// create new branch node</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* childBranch = this-&gt;createBranchChild (*parent_branch, child_idx);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    this-&gt;branch_count_ ++;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keyword">typename</span> std::vector&lt;int&gt;::iterator it = leafIndices.begin();</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    <span class="keyword">typename</span> std::vector&lt;int&gt;::const_iterator it_end = leafIndices.end();</div>
<div class="line"><a name="l00531"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">  531</a></span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    <span class="comment">// add data to new branch</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_index_key;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="keywordflow">for</span> (it = leafIndices.begin(); it!=it_end; ++it)</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    {</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_from_index = input_-&gt;points[*it];</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      <span class="comment">// generate key</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      genOctreeKeyforPoint (point_from_index, new_index_key);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* newLeaf;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* newBranchParent;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      this-&gt;createLeafRecursive (new_index_key, depth_mask, childBranch, newLeaf, newBranchParent);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      (*newLeaf)-&gt;addPointIndex(*it);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  }</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;}</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00556"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">  556</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::addPointIdx</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> point_idx_arg)</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;{</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  assert (point_idx_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ()));</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = input_-&gt;points[point_idx_arg];</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="comment">// make sure bounding box is big enough</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  adoptBoundingBoxToPoint (point);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  genOctreeKeyforPoint (point, key);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  LeafNode* leaf_node;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  BranchNode* parent_branch_of_leaf_node;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask = this-&gt;createLeafRecursive (key, this-&gt;depth_mask_ ,this-&gt;root_node_, leaf_node, parent_branch_of_leaf_node);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  <span class="keywordflow">if</span> (this-&gt;dynamic_depth_enabled_ &amp;&amp; depth_mask)</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  {</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;    <span class="comment">// get amount of objects in leaf container</span></div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="keywordtype">size_t</span> leaf_obj_count = (*leaf_node)-&gt;getSize ();</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keywordflow">while</span>  (leaf_obj_count&gt;=max_objs_per_leaf_ &amp;&amp; depth_mask)</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    {</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx = key.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#aa5e316c2185196c871a510f893b19717">getChildIdxWithDepthMask</a> (depth_mask*2);</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      expandLeafNode (leaf_node,</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                      parent_branch_of_leaf_node,</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                      child_idx,</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;                      depth_mask);</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      depth_mask = this-&gt;createLeafRecursive (key, this-&gt;depth_mask_ ,this-&gt;root_node_, leaf_node, parent_branch_of_leaf_node);</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      leaf_obj_count = (*leaf_node)-&gt;getSize ();</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  }</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  (*leaf_node)-&gt;addPointIndex (point_idx_arg);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;}</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160; </div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;</div>
<div class="line"><a name="l00600"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">  600</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getPointByIndex</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="comment">// retrieve point from input cloud</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  assert (index_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ()));</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  <span class="keywordflow">return</span> (this-&gt;input_-&gt;points[index_arg]);</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;}</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00609"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">  609</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getKeyBitSize</a> ()</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;{</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_voxels;</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_key_x;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_key_y;</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_key_z;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160; </div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  <span class="keywordtype">double</span> octree_side_len;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> minValue = std::numeric_limits&lt;float&gt;::epsilon();</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  <span class="comment">// find maximum key values for x, y, z</span></div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  max_key_x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (ceil ((max_x_ - min_x_ - minValue) / resolution_));</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;  max_key_y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (ceil ((max_y_ - min_y_ - minValue) / resolution_));</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  max_key_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (ceil ((max_z_ - min_z_ - minValue) / resolution_));</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160; </div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  <span class="comment">// find maximum amount of keys</span></div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  max_voxels = std::max (std::max (std::max (max_key_x, max_key_y), max_key_z), <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (2));</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  <span class="comment">// tree depth == amount of bits of max_voxels</span></div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  this-&gt;octree_depth_ = std::max ((std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (OctreeKey::maxDepth), <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (ceil (this-&gt;Log2 (max_voxels)-minValue)))),</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                                  <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (0));</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160; </div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  octree_side_len = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; this-&gt;octree_depth_) * resolution_;</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160; </div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  <span class="keywordflow">if</span> (this-&gt;leaf_count_ == 0)</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  {</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="keywordtype">double</span> octree_oversize_x;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keywordtype">double</span> octree_oversize_y;</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    <span class="keywordtype">double</span> octree_oversize_z;</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    octree_oversize_x = (octree_side_len - (max_x_ - min_x_)) / 2.0;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    octree_oversize_y = (octree_side_len - (max_y_ - min_y_)) / 2.0;</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    octree_oversize_z = (octree_side_len - (max_z_ - min_z_)) / 2.0;</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160; </div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    assert (octree_oversize_x &gt; -minValue);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    assert (octree_oversize_y &gt; -minValue);</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    assert (octree_oversize_z &gt; -minValue);</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    <span class="keywordflow">if</span> (octree_oversize_x &gt; minValue)</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    {</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      min_x_ -= octree_oversize_x;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      max_x_ += octree_oversize_x;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    }</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <span class="keywordflow">if</span> (octree_oversize_y &gt; minValue)</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    {</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;      min_y_ -= octree_oversize_y;</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;      max_y_ += octree_oversize_y;</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    }</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    <span class="keywordflow">if</span> (octree_oversize_z &gt; minValue)</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    {</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;      min_z_ -= octree_oversize_z;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      max_z_ += octree_oversize_z;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    }</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  }</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    max_x_ = min_x_ + octree_side_len;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    max_y_ = min_y_ + octree_side_len;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    max_z_ = min_z_ + octree_side_len;</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  }</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160; </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160; <span class="comment">// configure tree depth of octree</span></div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  this-&gt;setTreeDepth (this-&gt;octree_depth_);</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160; </div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;}</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160; </div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00680"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">  680</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::genOctreeKeyforPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg,</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;                                                                             <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="comment">// calculate integer key for point coordinates</span></div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    key_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.x - this-&gt;min_x_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    key_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.y - this-&gt;min_y_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    key_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.z - this-&gt;min_z_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    </div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    assert (key_arg.x &lt;= this-&gt;max_key_.x);</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    assert (key_arg.y &lt;= this-&gt;max_key_.y);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    assert (key_arg.z &lt;= this-&gt;max_key_.z);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  }</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160; </div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00695"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab0b9d5d8a304091f8b0e80f8bd76272e">  695</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::genOctreeKeyforPoint</a> (</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> point_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_y_arg,</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> point_z_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp_point;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  temp_point.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_x_arg);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  temp_point.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_y_arg);</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  temp_point.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_z_arg);</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160; </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;  genOctreeKeyforPoint (temp_point, key_arg);</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;}</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00711"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">  711</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::genOctreeKeyForDataT</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; data_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp_point = getPointByIndex (data_arg);</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  genOctreeKeyforPoint (temp_point, key_arg);</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160; </div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;}</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160; </div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00723"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">  723</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::genLeafNodeCenterFromOctreeKey</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  <span class="comment">// define point to leaf node voxel center</span></div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  point.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.x) + 0.5f) * this-&gt;resolution_ + this-&gt;min_x_);</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  point.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.y) + 0.5f) * this-&gt;resolution_ + this-&gt;min_y_);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;  point.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.z) + 0.5f) * this-&gt;resolution_ + this-&gt;min_z_);</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;}</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160; </div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00733"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">  733</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::genVoxelCenterFromOctreeKey</a> (</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg,</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg,</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  <span class="comment">// generate point for voxel center defined by treedepth (bitLen) and key</span></div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  point_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast &lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.x) + 0.5f) * (this-&gt;resolution_ * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;octree_depth_ - tree_depth_arg))) + this-&gt;min_x_);</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  point_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast &lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.y) + 0.5f) * (this-&gt;resolution_ * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;octree_depth_ - tree_depth_arg))) + this-&gt;min_y_);</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  point_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast &lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.z) + 0.5f) * (this-&gt;resolution_ * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;octree_depth_ - tree_depth_arg))) + this-&gt;min_z_);</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;}</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160; </div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00746"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">  746</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::genVoxelBoundsFromOctreeKey</a> (</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg,</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg,</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;    Eigen::Vector3f &amp;min_pt,</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;    Eigen::Vector3f &amp;max_pt)<span class="keyword"> const</span></div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="comment">// calculate voxel size of current tree depth</span></div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  <span class="keywordtype">double</span> voxel_side_len = this-&gt;resolution_ * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;octree_depth_ - tree_depth_arg));</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160; </div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <span class="comment">// calculate voxel bounds</span></div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  min_pt (0) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.x) * voxel_side_len + this-&gt;min_x_);</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  min_pt (1) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.y) * voxel_side_len + this-&gt;min_y_);</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  min_pt (2) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.z) * voxel_side_len + this-&gt;min_z_);</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  max_pt (0) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.x + 1) * voxel_side_len + this-&gt;min_x_);</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  max_pt (1) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.y + 1) * voxel_side_len + this-&gt;min_y_);</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  max_pt (2) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.z + 1) * voxel_side_len + this-&gt;min_z_);</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;}</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00767"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab16d0a5d8b0a383619e1d50d748b5e0f">  767</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getVoxelSquaredSideLen</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  <span class="keywordtype">double</span> side_len;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160; </div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  <span class="comment">// side length of the voxel cube increases exponentially with the octree depth</span></div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;  side_len = this-&gt;resolution_ * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(1 &lt;&lt; (this-&gt;octree_depth_ - tree_depth_arg));</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160; </div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;  <span class="comment">// squared voxel side length</span></div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;  side_len *= side_len;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160; </div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="keywordflow">return</span> (side_len);</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;}</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160; </div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00782"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab2c5e918883e8a4a4d4c9d017bff900c">  782</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getVoxelSquaredDiameter</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  <span class="comment">// return the squared side length of the voxel cube as a function of the octree depth</span></div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  <span class="keywordflow">return</span> (getVoxelSquaredSideLen (tree_depth_arg) * 3);</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;}</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160; </div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT, <span class="keyword">typename</span> OctreeT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00790"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">  790</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">pcl::octree::OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt;::getOccupiedVoxelCentersRecursive</a> (</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    <span class="keyword">const</span> BranchNode* node_arg,</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    AlignedPointTVector &amp;voxel_center_list_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;  <span class="keywordtype">int</span> voxel_count = 0;</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160; </div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;  {</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    <span class="keywordflow">if</span> (!this-&gt;branchHasChild (*node_arg, child_idx))</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> * child_node;</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;    child_node = this-&gt;getBranchChildPtr (*node_arg, child_idx);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    <span class="comment">// generate new key for current branch voxel</span></div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;    new_key.x = (key_arg.x &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;    new_key.y = (key_arg.y &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    new_key.z = (key_arg.z &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    <span class="keywordflow">switch</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> ())</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    {</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;      <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;      {</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        voxel_count += getOccupiedVoxelCentersRecursive (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (child_node), new_key, voxel_center_list_arg);</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;      }</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;      <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;      {</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> new_point;</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160; </div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;        genLeafNodeCenterFromOctreeKey (new_key, new_point);</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;        voxel_center_list_arg.push_back (new_point);</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;        voxel_count++;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;      }</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;      <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    }</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  }</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  <span class="keywordflow">return</span> (voxel_count);</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;}</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithLeafDataTVector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud&lt;T, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase&lt;pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty &gt; &gt;;</span></div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithLeafDataTVector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud&lt;T, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::Octree2BufBase&lt;pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty &gt; &gt;;</span></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160; </div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithLeafDataT(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud&lt;T, pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase&lt;pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty &gt; &gt;;</span></div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithLeafDataT(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud&lt;T, pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty, pcl::octree::Octree2BufBase&lt;pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty &gt; &gt;;</span></div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160; </div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithEmptyLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud&lt;T, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase&lt;pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty &gt; &gt;;</span></div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithEmptyLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud&lt;T, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty, pcl::octree::Octree2BufBase&lt;pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty &gt; &gt;;</span></div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160; </div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* OCTREE_POINTCLOUD_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html">pcl::octree::OctreeBranchNode</a></div><div class="ttdoc">Abstract octree branch class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html_aa5e316c2185196c871a510f893b19717"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html#aa5e316c2185196c871a510f893b19717">pcl::octree::OctreeKey::getChildIdxWithDepthMask</a></div><div class="ttdeci">unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const</div><div class="ttdoc">get child node index using depthMask</div><div class="ttdef"><b>Definition:</b> octree_key.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_a5b8206e9608369db7d5c21d905d03e09"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">pcl::octree::OctreeNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const =0</div><div class="ttdoc">Pure virtual method for receiving the type of octree node (branch or leaf)</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a040db2cc8b3dcf73cdb4bea4fd37d53a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">pcl::octree::OctreePointCloud::getVoxelSquaredDiameter</a></div><div class="ttdeci">double getVoxelSquaredDiameter() const</div><div class="ttdoc">Calculates the squared diameter of a voxel at leaf depth</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:359</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0504486d59659d8fe44257c2e46e159c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">pcl::octree::OctreePointCloud::expandLeafNode</a></div><div class="ttdeci">void expandLeafNode(LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:507</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0fd10260bace75f9c753ef42f74f9027"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">pcl::octree::OctreePointCloud::adoptBoundingBoxToPoint</a></div><div class="ttdeci">void adoptBoundingBoxToPoint(const PointT &amp;point_idx_arg)</div><div class="ttdoc">Grow the bounding box/octree until point fits</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:417</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a2edc37d578faf79346d3fa74b18de194"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">pcl::octree::OctreePointCloud::deleteVoxelAtPoint</a></div><div class="ttdeci">void deleteVoxelAtPoint(const PointT &amp;point_arg)</div><div class="ttdoc">Delete leaf node / voxel at given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:167</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a31091b92e65251fcb6c19b5f99215151"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">pcl::octree::OctreePointCloud::getOccupiedVoxelCentersRecursive</a></div><div class="ttdeci">int getOccupiedVoxelCentersRecursive(const BranchNode *node_arg, const OctreeKey &amp;key_arg, AlignedPointTVector &amp;voxel_center_list_arg) const</div><div class="ttdoc">Recursively search the tree for all leaf nodes and return a vector of voxel centers.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:790</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a342788d493c7a2520009179a0e321d7b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">pcl::octree::OctreePointCloud::genLeafNodeCenterFromOctreeKey</a></div><div class="ttdeci">void genLeafNodeCenterFromOctreeKey(const OctreeKey &amp;key_arg, PointT &amp;point_arg) const</div><div class="ttdoc">Generate a point at center of leaf node voxel</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:723</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a4ebc0e3994827277f01fe12cb4fe8c2a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">pcl::octree::OctreePointCloud::OctreePointCloud</a></div><div class="ttdeci">OctreePointCloud(const double resolution_arg)</div><div class="ttdoc">Octree pointcloud constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a53d42efe80b3083dc5b703ea9dd7c9af"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">pcl::octree::OctreePointCloud::addPointToCloud</a></div><div class="ttdeci">void addPointToCloud(const PointT &amp;point_arg, PointCloudPtr cloud_arg)</div><div class="ttdoc">Add point simultaneously to octree and input point cloud.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:106</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a6bea8ca3b8fe7b5c28bce6ca0d636789"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">pcl::octree::OctreePointCloud::genVoxelCenterFromOctreeKey</a></div><div class="ttdeci">void genVoxelCenterFromOctreeKey(const OctreeKey &amp;key_arg, unsigned int tree_depth_arg, PointT &amp;point_arg) const</div><div class="ttdoc">Generate a point at center of octree voxel at given tree level</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:733</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a7bc46426ce1b55cfd0a32063ada08613"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud::defineBoundingBox</a></div><div class="ttdeci">void defineBoundingBox()</div><div class="ttdoc">Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:265</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8a1dcd695db20c10dd2ca049b3e6851e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">pcl::octree::OctreePointCloud::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int point_idx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:556</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8e56f5f63f8e230d71a4716f8c420ebf"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">pcl::octree::OctreePointCloud::getVoxelSquaredSideLen</a></div><div class="ttdeci">double getVoxelSquaredSideLen() const</div><div class="ttdoc">Calculates the squared voxel cube side length at leaf level</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:374</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a9a2aff164921146fd82c192d73e2f155"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint</a></div><div class="ttdeci">bool isVoxelOccupiedAtPoint(const PointT &amp;point_arg) const</div><div class="ttdoc">Check if voxel at given point exist.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_aa78eb05816a966b24bc939a6cfc625d3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">pcl::octree::OctreePointCloud::getPointByIndex</a></div><div class="ttdeci">const PointT &amp; getPointByIndex(const unsigned int index_arg) const</div><div class="ttdoc">Get point at index from input pointcloud dataset</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:600</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ab8478220f036bebf326d52d0aa9812b7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">pcl::octree::OctreePointCloud::~OctreePointCloud</a></div><div class="ttdeci">virtual ~OctreePointCloud()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_abb3e4301c89ea5011a1a1167800a57b3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">pcl::octree::OctreePointCloud::getOccupiedVoxelCenters</a></div><div class="ttdeci">int getOccupiedVoxelCenters(AlignedPointTVector &amp;voxel_center_list_arg) const</div><div class="ttdoc">Get a PointT vector of centers of all occupied voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac2fe606c6ea7b413949b96e4ba4b22d7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">pcl::octree::OctreePointCloud::getApproxIntersectedVoxelCentersBySegment</a></div><div class="ttdeci">int getApproxIntersectedVoxelCentersBySegment(const Eigen::Vector3f &amp;origin, const Eigen::Vector3f &amp;end, AlignedPointTVector &amp;voxel_center_list, float precision=0.2)</div><div class="ttdoc">Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation ...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:204</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac477d9477e781d980709b1e8886d2c7c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Add points from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac63353c886559f6f801acb39147978a6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">pcl::octree::OctreePointCloud::genVoxelBoundsFromOctreeKey</a></div><div class="ttdeci">void genVoxelBoundsFromOctreeKey(const OctreeKey &amp;key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</div><div class="ttdoc">Generate bounds of an octree voxel using octree key and tree depth arguments</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:746</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac740d5e678cca7d165771f0c9e480050"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">pcl::octree::OctreePointCloud::addPointFromCloud</a></div><div class="ttdeci">void addPointFromCloud(const int point_idx_arg, IndicesPtr indices_arg)</div><div class="ttdoc">Add point at given index from input point cloud to octree. Index will be also added to indices vector...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ad34b5c6655fdcf9ed4da21ac8a973e5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">pcl::octree::OctreePointCloud::genOctreeKeyforPoint</a></div><div class="ttdeci">void genOctreeKeyforPoint(const PointT &amp;point_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Generate octree key for voxel at a given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:680</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_adc10f5df5244d371c4136f09b37cd685"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">pcl::octree::OctreePointCloud::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox(double &amp;min_x_arg, double &amp;min_y_arg, double &amp;min_z_arg, double &amp;max_x_arg, double &amp;max_y_arg, double &amp;max_z_arg) const</div><div class="ttdoc">Get bounding box for octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:400</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_af0cbfcff86b8b2d544d98ffa4648d790"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">pcl::octree::OctreePointCloud::getKeyBitSize</a></div><div class="ttdeci">void getKeyBitSize()</div><div class="ttdoc">Define octree key setting and octree depth based on defined bounding box.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:609</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_afdabd2a68b1a3b73580e84269f155fad"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">pcl::octree::OctreePointCloud::genOctreeKeyForDataT</a></div><div class="ttdeci">virtual bool genOctreeKeyForDataT(const int &amp;data_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Virtual method for generating octree key for a given point index.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:711</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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